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ahmedsalah52 2024-12-11 00:51:04 +01:00
parent c272555e39
commit 3758097e22
1 changed files with 5 additions and 3 deletions
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8
src/main/flight/altitude.c
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@ -209,11 +209,11 @@ bool sensorUpdateIteration(sensorState_t *sensor) {
SensorMeasurement tempSensorMeas; SensorMeasurement tempSensorMeas;
tempSensorMeas.value = sensor->currentAltReadingCm - sensor->zeroAltOffsetCm; tempSensorMeas.value = sensor->currentAltReadingCm - sensor->zeroAltOffsetCm;
tempSensorMeas.variance = sensor->variance; tempSensorMeas.variance = sensor->variance;
#ifdef USE_GPS
if (sensor->type == SF_GPS) { // ignore the GPS for now, TODO: add the gps to the fusion if (sensor->type == SF_GPS) { // ignore the GPS for now, TODO: add the gps to the fusion
return false; return false;
} }
#endif
kf_update(&kf, tempSensorMeas); kf_update(&kf, tempSensorMeas);
return true; return true;
} }
@ -237,9 +237,11 @@ bool altSensorFusionUpdate(void) {
altitudeState.velocityCm = (altitudeState.distCm - previousAltitude) * 1000 / deltaTimeMs; altitudeState.velocityCm = (altitudeState.distCm - previousAltitude) * 1000 / deltaTimeMs;
previousAltitude = altitudeState.distCm; previousAltitude = altitudeState.distCm;
DEBUG_SET(DEBUG_ALTITUDE, 0, lrintf(10000 - gpsSol.dop.pdop));
DEBUG_SET(DEBUG_ALTITUDE, 1, lrintf(altSenFusSources[SF_BARO].currentAltReadingCm - altSenFusSources[SF_BARO].zeroAltOffsetCm)); DEBUG_SET(DEBUG_ALTITUDE, 1, lrintf(altSenFusSources[SF_BARO].currentAltReadingCm - altSenFusSources[SF_BARO].zeroAltOffsetCm));
#ifdef USE_GPS
DEBUG_SET(DEBUG_ALTITUDE, 0, lrintf(10000 - gpsSol.dop.pdop));
DEBUG_SET(DEBUG_ALTITUDE, 2, lrintf(altSenFusSources[SF_GPS].currentAltReadingCm - altSenFusSources[SF_GPS].zeroAltOffsetCm)); DEBUG_SET(DEBUG_ALTITUDE, 2, lrintf(altSenFusSources[SF_GPS].currentAltReadingCm - altSenFusSources[SF_GPS].zeroAltOffsetCm));
#endif
DEBUG_SET(DEBUG_ALTITUDE, 3, lrintf(altSenFusSources[SF_ACC].velocityAltCmS)); DEBUG_SET(DEBUG_ALTITUDE, 3, lrintf(altSenFusSources[SF_ACC].velocityAltCmS));
DEBUG_SET(DEBUG_ALTITUDE, 5, lrintf(altSenFusSources[SF_BARO].zeroAltOffsetCm)); DEBUG_SET(DEBUG_ALTITUDE, 5, lrintf(altSenFusSources[SF_BARO].zeroAltOffsetCm));
#ifdef USE_RANGEFINDER #ifdef USE_RANGEFINDER